Apparatus and method for sensing deformation

ABSTRACT

Disclosed is a controller for sensing deformation. Transmit antennas are located on a first structure and transmit signals. Receive antennas are located on a second structure and receive signals. Received signals are processed to determine an amount of deformation. The amount of deformation that occurs may then be correlated to the position of a hand or the location of another body part.

This application includes material which is subject to copyrightprotection. The copyright owner has no objection to the facsimilereproduction by anyone of the patent disclosure, as it appears in thePatent and Trademark Office files or records, but otherwise reserves allcopyright rights whatsoever.

FIELD

The disclosed apparatus and methods relate in general to the field ofhuman-machine interface controllers, and in particular to ahuman-machine interface controller that is sensitive to deformation.

BACKGROUND

In recent years virtual reality (VR) and augmented reality (AR) havebecome increasingly popular as computational power and immersivepossibilities become more common.

Generally, while systems and methods offer ways to interact with VR andAR environments, frequently the mechanism for interacting with thesetypes of environments detracts from the immersive nature.

What is needed are controllers that provide detailed informationrelative to a user's gestures and other interactions without detractingfrom the immersiveness of the overall system.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and other objects, features, and advantages of thedisclosure will be apparent from the following more particulardescription of embodiments as illustrated in the accompanying drawings,in which reference characters refer to the same parts throughout thevarious views. The drawings are not necessarily to scale, emphasisinstead being placed upon illustrating principles of the disclosedembodiments.

FIG. 1 shows a diagram illustrating the interaction of components of anembodiment of a controller.

FIG. 2 shows an embodiment of a controller located on a wrist of a user.

FIG. 3 shows a close up view of the embodiment shown in FIG. 2 of acontroller located on the wrist with a receive antenna located in afirst position.

FIG. 4 shows a close up view of the embodiment shown in FIG. 2 of acontroller located on the wrist with the receive antenna located in asecond position.

FIG. 5 shows a view of a user's hand forming a gesture that is detectedby the controller.

FIG. 6 shows an embodiment of a controller having more than one receiveantennas.

FIG. 7 shows an embodiment of a controller wherein transmit antennas andreceive antennas are embedded in a first structure.

FIG. 8 shows a diagram of an embodiment of an arrangement of antennasarranged in a linear pattern.

FIG. 9 shows a diagram of an embodiment of an arrangement of antennasarranged in an opposing saw-tooth pattern.

FIG. 10 shows a diagram of an embodiment of an arrangement of antennasarranged in complementary saw-tooth pattern.

FIG. 11 shows a diagram of an embodiment of an arrangement of antennasarranged in a pattern where the ends of the antennas are extending outof the page.

FIG. 12 shows a diagram of an embodiment of an arrangement of antennaswhere the antennas are arranged in a saw-tooth pattern and the antennasare extending out of the page.

FIG. 13 shows an embodiment of a multi-layer controller.

FIG. 14 shows an embodiment of a controller.

FIG. 15 shows another view of the embodiment shown in FIG. 14.

DETAILED DESCRIPTION

This application relates to user interfaces such as found in U.S.Provisional Patent Application No. 62/621,117, entitled “Matrix Sensorwith Receive Isolation,” The entire disclosure of that application, andthe applications incorporated therein by reference, are incorporatedherein by reference.

In various embodiments, the present disclosure is directed to motionsensing controllers, and methods for designing, manufacturing andoperating motion controllers (e.g., hand movement controllers), and inparticular controllers using signals to determine an amount ofdeformation of a surface in order to model motion of a body part.Throughout this disclosure, various controller shapes and sensorpatterns are used for illustrative purposes. Although examplecompositions and/or geometries are disclosed for the purpose ofillustrating the invention, other compositions and geometries will beapparent to a person of skill in the art, in view of this disclosure,without departing from the scope and spirit of the disclosure herein.

An embodiment is an apparatus having a first plurality of antennas eachbeing supported on a first structure adapted to be worn on a wrist, thefirst structure adapted to permit at least one of the first plurality ofantennas to move with respect to another one of the first plurality ofantennas due to deformation of the first structure. A signal transmitteris operatively connected to each of a first set of the first pluralityof antennas, the first set comprising at least two of the firstplurality of antennas, the signal transmitter being configured togenerate each of a first plurality of frequency-orthogonal signals oneach of the first set of the first plurality of antennas, respectively.A signal processor is operatively connected to each of a second set ofthe first plurality of antennas, the second set comprising at least twoof the first plurality of antennas, the signal processor beingconfigured to process signals received on the second set of the firstplurality of antennas during a plurality of integration periods, and foreach of the plurality of integration periods and for each of the secondset of the first plurality of antennas, to determine a measurementcorresponding to each signal generated on each of the first set of thefirst plurality of antenna. A movement of a hand can be determined basedon the measurements corresponding to the plurality of integrationperiods.

An embodiment is a method comprising the steps of generating signalswith a signal transmitter operatively connected to each of a first setof a first plurality of antennas, the first set comprising at least twoof the first plurality of antennas, the signal transmitter beingconfigured to generate each of a first plurality of frequency-orthogonalsignals on each of the first set of the first plurality of antennas,respectively. Receiving signals on a second set of the first pluralityof antennas, the second set comprising at least two of the firstplurality of antennas, wherein each of the first set and the second setof the first plurality of antennas being supported on a first structureadapted to be worn on a wrist, the first structure adapted to permit atleast one of the first plurality of antennas to move with respect toanother one of the first plurality of antennas due to deformation of thefirst structure. Processing signals with a signal processor operativelyconnected to each of the second set of the first plurality of antennas,the signal processor being configured to process signals received on thesecond set of the first plurality of antennas during a plurality ofintegration periods. Determining a measurement corresponding to eachsignal generated on each of the first set of the first plurality ofantennas for each of the plurality of integration periods and for eachof the second set of the first plurality of antennas. Determiningmovement of the hand based on the measurements corresponding to theplurality of integration periods.

An embodiment is an apparatus having a first plurality of antennas eachbeing supported on a first structure adapted to be worn on a wrist. Asignal transmitter operatively connected to at least one of the firstplurality of antennas, the at least one of the first plurality ofantennas being configured to transmit a signal into skin. A signalprocessor operatively connected to each of a second plurality ofantennas, the signal processor being configured to process signalsreceived on the second plurality of antennas to determine a measurementcorresponding to each signal generated by the at least one of the firstplurality of antennas. A movement of a hand can be determined based onthe measurements corresponding to each signal generated by the at leastone of the first plurality of antennas.

Throughout this disclosure, the terms “deformation,” or otherdescriptors may be used to describe events or periods of time in which ahuman-machine interaction takes place, i.e., a user's deformation ofskin surface in the wrist area. In accordance with an embodiment,“deformation” may be detected, processed and supplied to downstreamcomputational processes with very low latency, e.g., on the order of tenmilliseconds or less, or on the order of less than one millisecond.

As used herein, and especially within the claims, ordinal terms such asfirst and second are not intended, in and of themselves, to implysequence, time or uniqueness, but rather, are used to distinguish oneclaimed construct from another. In some uses where the context dictates,these terms may imply that the first and second are unique. For example,where an event occurs at a first time, and another event occurs at asecond time, there is no intended implication that the first time occursbefore the second time. However, where the further limitation that thesecond time is after the first time is presented in the claim, thecontext would require reading the first time and the second time to beunique times. Similarly, where the context so dictates or permits,ordinal terms are intended to be broadly construed so that the twoidentified claim constructs can be of the same characteristic or ofdifferent characteristic. Thus, for example, a first and a secondfrequency, absent further limitation, could be the same frequency, e.g.,the first frequency being 10 Mhz and the second frequency being 10 Mhz;or could be different frequencies, e.g., the first frequency being 10Mhz and the second frequency being 11 Mhz. Context may dictateotherwise, for example, where a first and a second frequency are furtherlimited to being orthogonal to each other in frequency, in which case,they could not be the same frequency.

The term “controller” as used herein is intended to refer to a physicalobject that provides the function of human-machine interface. In anembodiment, the controller is a wristband. In an embodiment, thecontroller is able to detect the movements of a hand through detectionof the deformation of surface areas of the wrist area. In an embodiment,the controller is able to detect the movements of a hand throughdetection of the movement of the wrist area. In an embodiment, thecontroller is able to detect the movements of a hand by sensing suchmovements directly. See, e.g., U.S. Provisional Patent Application No.62/473,908, entitled “Hand Sensing Controller,” filed Mar. 20, 2017;U.S. Provisional Patent Application No. 62/488,753, entitled“Heterogenous Sensing Apparatus and Methods” filed on Apr. 22, 2017; andU.S. Provisional Patent Application No. 62/588,267, entitled “SensingController” filed on Nov. 17, 2017. In an embodiment, the controller mayprovide the position of a hand through the determination of deformationof surface areas in the wrist area. In an embodiment, the controller mayprovide position and/or movement of other body parts through thedetermination of deformation of surface areas proximate to and/orassociated with the body part and/or function, e.g., the articulation ofthe bones, joints and muscles of the wrist area and how it translatesinto the position and/or movement of the hand; the articulation of thebones, joints and muscles of the ankle area and how it translates intoposition and/or movement of the foot; the vibration and movement of thevocal cords and how it translates into speech.

The controllers discussed herein use first antennas and second antennas.The first antennas and second antennas can be transmitters andreceivers. However, it should be understood that whether the firstantenna (or second antenna) is a transmitter, a receiver, or bothdepends on context and the embodiment. In an embodiment, thetransmitters and receivers for all or any combination of the patternsare operatively connected to a single integrated circuit capable oftransmitting and receiving the required signals. In an embodiment, thetransmitters and receivers are each operatively connected to a differentintegrated circuit capable of transmitting and receiving the requiredsignals, respectively. In an embodiment, the transmitters and receiversfor all or any combination of the patterns may be operatively connectedto a group of integrated circuits, each capable of transmitting andreceiving the required signals, and together sharing informationnecessary to such multiple IC configuration. In an embodiment, where thecapacity of the integrated circuit (i.e., the number of transmit andreceive channels) and the requirements of the patterns (i.e., the numberof transmit and receive channels) permit, all of the transmitters andreceivers for all of the multiple patterns used by a controller areoperated by a common integrated circuit, or by a group of integratedcircuits that have communications therebetween. In an embodiment, wherethe number of transmit or receive channels requires the use of multipleintegrated circuits, the information from each circuit is combined in aseparate system. In an embodiment, the separate system comprises a GPUand software for signal processing.

Turning to FIG. 1, a diagram of an embodiment is shown. In anembodiment, a mixed signal integrated circuit 100 with signal processingcapabilities comprises a transmitter 110, and a receiver 120. (In anembodiment, an analog front end comprising a transmitter (or multipletransmitters) and a receiver (or multiple receivers) is used to send andreceive signals instead of the mixed signal integrated circuit 100. Insuch an embodiment, the analog front end provides a digital interface tosignal generating and signal processing circuits and/or software.)

The transmitter 110 is conductively coupled to transmit antenna 130 viatransmit lead 115, and the receiver 120 is conductively coupled to thereceive antenna 140 via receive lead 125. The transmit antenna 130 issupported on a first structure 150 that is worn on body part 160. Thefirst structure 150 is worn on or about the body part 160 such that itwill move, generally, with the body part 160. In an embodiment, thereceive antenna 140 comprises a support 190, that may be separatelyaffixed to the skin of the body part 160, for example, by using tape180. Alternatively, receive antenna 140 is affixed to a second structure(not shown) that is adapted to move with the movement of the skin of thebody part 160, rather than the more gross movements of the body part160. In an embodiment, the second structure comprises a more flexiblematerial than the first structure.

In an embodiment, a layer of material 170 separates the transmit antenna130 and the receive antenna 140. In an embodiment, the layer of material170 is a layer of dielectric material. In an embodiment, the layer ofmaterial 170 is a layer of polyamide film such as Kapton® (a registeredtrademark of the E. I. Du Pont de Nemours and Company Corporation ofDelaware) or another polyimide. Alternatively, the layer of material 170may be another material, such as, for example paper, mylar, etc. In anembodiment, the layer of material 170 may be omitted. In an embodiment,multiple layers of material may be used, such as, for example, a layermay be used on each of the receive antenna 140 and the transmit antenna130.

It will be apparent to a person of skill in the art in view of thisdisclosure that the transmitter and receivers are arbitrarily assigned,and the transmitter 110, transmit lead 115 and transmit antenna 130 canbe used the receive side, while the receiver 120, receive lead 125 andthe receive antenna 140 can be used as the transmit side. It will alsobe apparent to a person of skill in the art in view of this disclosurethat the signal processor, transmitter and receiver may be implementedon separate circuits. It will be apparent to a person of skill in theart in view of this disclosure that the transmitter and receivers maysupport more than one antenna. In an embodiment, a plurality of transmitantenna 130 and/or a plurality of receive antenna 140 are employed. Inan embodiment, multiple transmit antenna are supported on the firststructure. In an embodiment, multiple receive antenna are supported on asecond structure. In an embodiment, both transmit and receive antennaare supported on the first structure. In an embodiment, both transmitand receive antenna are supported on a second structure.

In an embodiment, the mixed signal integrated circuit 100 is adapted togenerate one or more signals and send the signals to the transmitantenna 130 via the transmitter 110. In an embodiment, the mixed signalintegrated circuit 100 is adapted to generate a plurality offrequency-orthogonal signals and send the plurality offrequency-orthogonal signals to the transmit antenna 130. In anembodiment, the mixed signal integrated circuit 100 is adapted togenerate a plurality of frequency-orthogonal signals and one or more ofthe plurality of frequency-orthogonal signals to each of a plurality oftransmit antenna. In an embodiment, the frequency-orthogonal signals arein the range from DC up to about 2.5 GHz. In an embodiment, thefrequency-orthogonal signals are in the range from DC up to about 1.6MHz. In an embodiment, the frequency-orthogonal signals are in the rangefrom 50 KHz to 200 KHz. The frequency spacing between thefrequency-orthogonal signals should be greater than or equal to thereciprocal of the integration period (i.e., the sampling period).

In an embodiment, the mixed signal integrated circuit 100 (or adownstream component or software) is adapted to determine at least onevalue representing each frequency orthogonal signal transmitted by atransmit antenna 130. In an embodiment, the mixed signal integratedcircuit 100 (or a downstream component or software) performs a Fouriertransform received signals. In an embodiment, the mixed signalintegrated circuit 100 is adapted to digitize received signals. In anembodiment, the mixed signal integrated circuit 100 (or a downstreamcomponent or software) is adapted to digitize received signals andperform a discrete Fourier transform (DFT) on the digitized information.In an embodiment, the mixed signal integrated circuit 100 (or adownstream component or software) is adapted to digitize receivedsignals and perform a Fast Fourier transform (FFT) on the digitizedinformation.

In an embodiment, received signals are sampled at at least 1 MHz. In anembodiment, received signals are sampled at at least 2 MHz. In anembodiment, received signals are sampled at 4 Mhz. In an embodiment,received signals are sampled at more than 4 MHz.

To achieve KHz sampling, for example, 4096 samples may be taken at 4.096MHz. In such an embodiment, the integration period is 1 millisecond,which per the constraint that the frequency spacing should be greaterthan or equal to the reciprocal of the integration period provides aminimum frequency spacing of 1 KHz. In an embodiment, the frequencyspacing is equal to the reciprocal of the integration period. (It willbe apparent to one of skill in the art in view of this disclosure thattaking 4096 samples at e.g., 4 MHz would yield an integration periodslightly longer than a millisecond, and not not achieving kHz sampling,and a minimum frequency spacing of 976.5625 Hz.) In such an embodiment,the maximum frequency of a frequency-orthogonal signal range should beless than 2 MHz. In such an embodiment, the practical maximum frequencyof a frequency-orthogonal signal range should be less than about 40% ofthe sampling rate, or about 1.6 MHz. In an embodiment, an FFT is used totransform the digitized received signals into bins of information, eachreflecting the frequency of a frequency-orthogonal signal transmittedwhich may have been transmitted by the transmit antenna 130. In anembodiment 4096 bins correspond to frequencies from 1 KHz to about 4MHz. It will be apparent to a person of skill in the art in view of thisdisclosure that these examples are simply that, exemplary. Depending onthe needs of a system, and subject to the constraints described above,the sample rate may be increased or decrease, the integration period maybe adjusted, the frequency range may be adjusted, etc.

In an embodiment, the first structure 150 is a bracelet worn on thewrist body part 160. In an embodiment, the first structure 150 is anylon bracelet worn on the wrist body part 160. In an embodiment, asecond structure is a thin layer of elastic material such as rubber orsilicon that will move with the skin of the body part 160.

In an embodiment, the sensor system of FIG. 1 is deployed on a user. Asthe user moves, changes in the position and orientation between thetransmit antenna 130 and receive antenna 140 are reflected in thesignals received by the receiver 120. In an embodiment, those changesare quantified by the mixed signal integrated circuit 100 or downstreamcircuits or software.

In an embodiment, even minute changes in the position and orientation ofthe transmit antenna 130 and the receive antenna 140 are reflected inthe signals received by the receiver and can be quantified by the mixedsignal integrated circuit 100 or downstream circuits or software.

In an embodiment, quantified changes can be used to determine a positionor motion of a body part such as wrist body part 160. In an embodiment,quantified changes can be used to determine a position or motion of abody part such as the articulation of the bones, joints, tendons andmuscles. In an embodiment, quantified changes can be used to determine aposition or motion of a body part such as the articulation of the bones,joints and muscles of the wrist area. In an embodiment, quantifiedchanges can be used to determine the position and/or movement of a hand,wrist, foot, ankle, head, neck, torso, arm, shoulder, or any other bodypart, or a portion of a body part. In an embodiment, quantified changescan be used to determine elastic movement of skin in relation to a bodyor body part. In an embodiment, quantified changes can be used todetermine the vibration and movement of vocal cords. In an embodiment,quantified changes can be used to deduce sounds or speech from thevibration and movement of vocal cords. In an embodiment, quantifiedchanges can be used to determine respiration, heart activity, pulse orother biomechanical changes.

In an embodiment, multiple receive antennas and multiple transmitantennas are interspersed on a first and second structure. In anembodiment, antenna are formed as three-dimensional objects (or thefaces of such three-dimensional objects), examples of which include:cubes, rectangular prisms, triangular prisms, octagonal prisms,tetrahedrons, square pyramids, cylinders and cones. In such embodiment,interleaving in two or more dimensions is possible. For example, 2 mmcubes could be placed e.g., 2 mms apart in a two dimensional grid on askin-tracking second structure that is, e.g. 1″ wide and worn on thewrist, while another layer of similar cubes could be deployed in a lessflexible second structure that is ½″ wide, and which circumscribesfirst, but is affixed so that it generally covers only the center ½″ ofthe second structure. In an embodiment, a large dense array of e.g.,alternating transmitters and receivers can interact. Using the mixedsignal integrated circuit 100 described above, or another system thatcan transmit and receive frequency-orthogonal signals, and detectchanges in signal interaction, a great deal about hand and wrist motioncan be gleaned. In an embodiment, each transmitting antenna can be usedto transmit a plurality of frequency-orthogonal signals. In anembodiment, the location of transmitting antenna and receiving antennacan be dynamically re-configured, allowing each antenna to operate aseither a transmitter or a receiver during any integration period. In anembodiment, an antenna can be used as both a transmitter and a receiver(albeit of different frequency-orthogonal signals) during a singleintegration period. In an embodiment, two groups of antenna are used asboth transmitters and receivers during the same integration period; thefirst group of antenna has its received signals passed through a highpass filter and are used to transmit only low frequencies, while thesecond group of antenna has its received signals passed through a lowpass filter and transmit only high frequencies.

Turning to FIGS. 2-5, an embodiment of a controller 10 is shown. Thecontroller 10 has transmit antenna 12 and receive antenna 14. In anembodiment, the transmit antenna 12 is a conductive plate that issecured to a location on a first structure 16, which may be made from orbe a first material. In an embodiment, the first material may be afabric band. In an embodiment, the fabric of the band is nylon. In anembodiment, the receive antenna 14 is a conductive plate that is securedto a location on a second structure 18, which may be made from or be asecond material. In an embodiment, the second material is human skin.

The transmit antenna 12 and the receive antenna 14 are located proximateto each other to permit signaling between the two. In an embodiment,dielectric material 13 is located between the transmit antenna 12 andthe receive antenna 14. In an embodiment the dielectric material 13 isKapton® tape. It should be understood that other dielectric materials 13may be used, and their use is optional. In an embodiment, a dielectricmaterial is used to create a minimum distance between the transmitantenna 12 and the receive antenna 14. In an embodiment, a dielectricmaterial is deformable, and is used to create a nominal (e.g., touchingbut not compressed) and a minimum (e.g., dielectric material fullycompressed) distances. In an embodiment, signal changes between thenominal and minimum distances can be used to determine pressure, andthus, can be used to infer movement of the sensed skin or body. In anembodiment, a flexible dielectric material is used, such as, forexample, velostat (vinyl doped with carbon).

In an embodiment, the first structure 16 has a “stiffness” that isdifferent than the second structure 18. “Stiffness,” generally, is aproperty of the displacement produced by a force along the same degreeof freedom, e.g., the change in length of stretched spring. In theinternational system of units this property is typically measured innewton per meter. This property is also known as Young's modulus (orelastic modulus).

In an embodiment, the manner of supporting the transmit antenna 12(e.g., on the first structure 16) and the manner of supporting thereceive antenna 14 (e.g., on the second structure 18 which may be skin)is intended to cause at least some movements of a body part (e.g., handor wrist) to result in a change in the relative orientation of thetransmit antenna 12 and the receive antenna 14. In an embodiment, thestiffness of the first structure 16 and second structures 18 aredifferent, and thus, at least some movements of a body part (e.g., handor wrist) result in a change in the relative orientation of the transmitantenna 12 and the receive antenna 14.

In an embodiment, the stiffness of the first structure 16 is greaterthan the stiffness of second structure 18. In an embodiment, thestiffness of a first structure is less than the stiffness of a secondstructure. In an embodiment, the stiffness of the first structure is thesame as the stiffness of the second structure, but the first structureand the second structure are configured to permit at least somemovements of a body part (e.g., hand or wrist) to result in a change inthe relative orientation of the transmit antenna 12 and the receiveantenna 14. In an embodiment, the first structure and the secondstructure are each separate wristbands positioned one concentric withthe other. In an embodiment, the first structure and the secondstructure are each separate wristbands positioned one adjacent to theother. Many different configurations will be apparent to a person ofskill in the art in view of this disclosure.

In an embodiment, the stiffness of a first structure and how it relatesto the stiffness of a second structure factors into how the transmitantenna will move in relation to the receive antenna. In an embodiment,the stiffnesses of the materials employed are selected so thatdeformation of a body part which is desired to be measured causesrelative movement between transmit and receive antennas. In anembodiment, the stiffnesses of the materials employed are selected sothat deformation of a body part which is desired to be measured can becompletely measured by the relative movement between the transmit andthe receive antenna. In an embodiment, multiple antennas are used tofully identify the deformation being measured.

Still referring to FIGS. 2-6, in an embodiment, a first signal istransmitted via the transmit antenna 12, and the signals received fromthe receive antenna 14 are processed to determine a measurement (e.g.,magnitude and/or phase) corresponding to the first signal. In anembodiment, the transmit antenna 12 is located on the first structure 16(nylon wristband) which has greater stiffness than the second structure18 (skin). In an embodiment, the transmit antenna 12 moves differentlythan the receive antenna 14 as a consequence of hand motion resulting inthe transmit antenna 12 and the receive antenna 14 changing theirrelative positions and/or orientations. This movement of the receiveantenna 14 relative to the transmit antenna 12 may be along any degreeof freedom (e.g., pitch, yaw, roll, x, y or z), and may include anycombination thereof. In an embodiment, the movement through space of thereceive antenna 14 relative to the transmit antenna 12 is related to thedeformation of the skin and the body part in the wrist area. In anembodiment, the relative movement may be caused by the expansion,contraction or shifting of the skin in the area, as well as by grossmovements of the body (e.g., a twisting or moving wrist). The expansion,contraction and shifting of skin in the wrist area may be caused by,e.g., muscle, ligament or bone movement in the wrist area, articulationof joints in the hand, wrist or arm, blood flow in the wrist area.

The signals received at the receive antenna 14 are processed todetermine a measurement (e.g., magnitude and/or phase) corresponding tothe signal or signals transmitted via the transmit antenna 12. In anembodiment, the measurement is used to determine or as a component indetermining movement of the body in the vicinity of (or havingconsequence in the vicinity of) the transmit and receive antennas.

For example, in FIG. 5, deformation in the wrist area caused bycontacting a thumb and middle finger is detected by processing thesignals received at a receive antenna to determine a measurement (e.g.,magnitude and/or phase) corresponding to the signal or signalstransmitted via a transmit antenna 12. In an embodiment, the change insignal is used to determine the magnitude of the hand motion. In anembodiment, the change in signal is used to determine a direction of thehand motion. In an embodiment, the change in signal may be used incombination with a constrained model of the hand and skin to determinethe motion of the hand. In an embodiment, the change in signal is usedin combination with a constrained model of the hand and skin totranslate the motion into an VR/AR system.

The transmit antenna 12 and receive antenna 14 can be arranged andformed as part of an antenna array including one or more transmittingantenna and one or more receiving antenna. Generally, more antennas willlead to a better determination of deformation. The placement of antennasso that they move relative to each other as a result of the bodymovement that is desired to be measured, and not quantity alone, willlead to improved capability for measurement. In an embodiment, antennasare placed in key locations on or proximate to a body part in order todetermine deformation. By “proximate” it is generally meant close enoughthat the antennas are able to provide information regarding the movementof the body part, for example on the wrist area to provide informationregarding a hand posture or position. In an embodiment, antennas of anarray are placed at specific locations on the wrist area wherearticulation occurs. In an embodiment, transmit and receive antenna (ortransmit and receive antenna groups) are placed on the skin (with nofirst material), and the stretching of the skin and movement ofsubdermal structures causes the relative orientation of the antennas toshift, and the consequential signal changes can be used to understandthe stretching and movement. In an embodiment, machine learningalgorithms are used to associate movement with consequential signalchanges, and then to model movement based on such consequential signalchanges.

Turning to FIG. 6, a controller 20 is shown having more than one receiveantenna 14. In an embodiment, two receive antennas 14 are oriented sothat, in a relaxed body part state, large surface areas thereof areoriented parallel to a transmit antennas 12. In an embodiment, the useof multiple antennas permits detection of a broader range ofdeformation. In an embodiment, the use of multiple antennas permitsfiner resolution detection of deformation. Using multiple antennas totransmit or receive signals provides more points of reference. Whilerectangular shaped antennas are shown, other geometries are possiblesuch as, for example, rods, curved planes, spheres and toroids. In anembodiment, antenna shapes need not be homogenous, and may vary from oneantennae to another.

Turning to FIG. 7, a controller 30 is shown. Controller 30 has aplurality of transmit antennas 12 and a plurality of receive antennas 14located within a band that is worn on a second structure 18, which canbe a body part such as a wrist. In an embodiment, the band is made of aflexible material. In an embodiment, the band is made of nylon. In anembodiment, the band is made from a flexible, elastic-type material. Inan embodiment, the band is made of neoprene, rubber or silicon. In anembodiment, the band is made of a material comprising neoprene, rubberor silicon. In an embodiment, each of the plurality of transmit 12 arelocated in proximity to one or more of the plurality of receive antennas14. In an embodiment, the flexibility and/or elasticity of the bandvaries across its length or width.

In an embodiment, one or more frequency orthogonal signals aretransmitted on each of the transmit antenna 12, and a receiver andsignal processor (not shown) is used to process signals received on eachreceive antenna 14 and provide a measurement corresponding to each ofthe one or more frequency orthogonal signals for each such receiveantenna 14. In an embodiment, movement of the second structure, e.g.,the body part, causes deformation of the band, and thus causes changesin the measurement corresponding to each of the one or more frequencyorthogonal signals for each such receive antenna 14. In an embodiment,successive measurements can be used to detect deformation of the band.In an embodiment, differences in successive measurements can be used toinfer movement of the body part.

In an embodiment, the plurality of transmit antennas 12 and theplurality of receive antennas shown in FIG. 7 may be aligned in rows orother patterns. In an embodiment, the plurality of transmit antennas 12and the plurality of receive antennas 14 are arranged in matrix arrays.In an embodiment, the plurality of transmit antennas 12 and theplurality of receive antennas 14 comprise conductive thread that isthreaded through the band. In an embodiment, a combination of conductivethreads and matrix arrays of antennas may be used.

In an embodiment, a second band (not shown) is also provided, the secondband being made of a relatively thin, flexible material (e.g., silicone,rubber, neoprene, nylon) that will deform in close relation to thedeformation of the skin. In an embodiment, the relatively thin band isalso provided with transmit and receive antennas, and worn between theskin and the band shown in FIG. 7. In an embodiment, movement of thesecond structure 18 causes deformation of the band shown in FIG. 7 anddeformation of the relatively thin band. In an embodiment, the bandshown in FIG. 7 and the relatively thin band worn thereunder havediffering flex and elasticity characteristics, and thus, movement of thesecond structure 18 causes differing deformation of the two bands. In anembodiment, the transmit antennas 12 in both bands are each used totransmit one or more different frequency orthogonal signals, and thesignals received by each receive antenna in each band are processed todetermine a measurement for each frequency-orthogonal signal. In anembodiment, measurement corresponding to each of the one or morefrequency orthogonal signals for each receive antenna can be used todetect deformation of the bands and their relative spatial changes withrespect to each other. In an embodiment, successive measurements can beused to detect deformation of the band. In an embodiment, differences insuccessive measurements can be used to infer movement of the body part.In an embodiment, machine learning algorithms are used to associate bodypart movement with signal changes, and then to model movement based onsuch signal changes.

FIG. 8 shows a schematic high-level diagram of an embodiment whereantenna are arranged in linear patterns. The antenna are offset fromeach other so that two of the transmit antennas 12 extend over a receiveantenna 14 and vice-versa.

FIG. 9 shows a schematic high-level diagram of an embodiment whereantenna are arranged in an opposing saw-tooth pattern. The transmitantennas 12 are angled in opposite directions from the angling of thereceive antennas 14.

FIG. 10 shows a schematic high-level diagram of an embodiment whereantenna are arranged in complementary saw-tooth pattern. The transmitantennas 12 are angled in the same direction as the angling of thereceive antenna 14.

FIG. 11 shows a schematic high-level diagram of an embodiment wherecylindrical antenna are arranged in an alternating pattern. In additionto this orientation it is possible orient antenna in variety oforientations with respect to the surface of a band or other wearable.

FIG. 12 shows a schematic high-level diagram of an embodiment wherenon-homogenous antenna are arranged in proximity to each other. In anembodiment antenna are able to interact and detect a variety ofmovements in the x, y and z axis, as well as potentially detectingpitch, yaw and roll.

FIG. 13 shows a schematic high-level diagram of an embodiment of atwo-layer controller having antenna 12, 14 arranged at locations ofdifferent stiffness. A first band 22 comprises a plurality of transmitantennas 12. A more flexible band 20 comprises a plurality of receiveantennas 14. In an embodiment, first band 22 is affixed around a bodypart (not shown) such as a wrist, and band 20 drapes over first band 22,and the sides of the band 20 engaging the body part. In an embodiment,first band 22 and the more flexible band 20 each comprise a plurality oftransmit antennas 12 and receive antennas 14. In an embodiment, relativemotions of the plurality of antenna with respect to one-another overtime can be used to measure relative movements of the skin and bodypart, and infer movement or positions of other nearby body parts.

In an embodiment, very small transmit and receive antenna are positioneddirectly on a variety of nearby locations on the body, and can detectrelative movement to one another—and that relative movement can be usedto infer movement or positions of nearby body parts. In an embodiment,antenna are affixed to the hair, hair follicles or skin using smallamounts of adhesive. In an embodiment, antenna are affixed to a thinstructure that is a layer of flexible elastic material that is thensecured to the body to act like a second skin, i.e., to move with theskin. In an embodiment, thin layer of flexible elastic material wouldnot interfere with the natural motion of the skin in response to bodymovement.

Turning to FIGS. 14 and 15, a controller 40 is shown. Controller 40 hasa transmit antenna 12 and a plurality of receive antennas 14 located ona first structure 16. Transmit antenna 12 injects, or transmits, asignal into the skin. The injection or transmission of a signal into theskin is also referred to as “signal infusion.” The receive antennas 14use received signals to determine the articulation and movements in thewrist area.

In an embodiment, the transmit antenna 12 transmits (signal infuses) thesignal directly into the skin. In an embodiment, the transmit antenna 12transmits (signal infuses) the signal through a medium, e.g., fabric. Inan embodiment, the transmit antenna 12 transmits the signal (signalinfuses) into the skin proximate to the first structure 16. In anembodiment, the transmit antenna 12 transmits (signal infuses) thesignal into the skin from a location elsewhere on the body than wherethe receivers are, for example the transmit antenna 12 can be on onewrist and the receive antenna on another wrist.

The first structure 16, e.g., a band, is worn on the body part, such asthe wrist. In an embodiment, the band is made of a flexible material. Inan embodiment, the band is made of nylon. In an embodiment, the band ismade from a flexible, elastic-type material. In an embodiment, the bandis made of neoprene, rubber or silicon. In an embodiment, the band ismade of a material comprising neoprene, rubber or silicon. In anembodiment, the flexibility and/or elasticity of the band varies acrossits length or width.

In an embodiment, the transmit antenna 12 is located proximate to thebody part. In an embodiment, transmit antennas 12 are located atopposite ends of the first structure 16. In an embodiment, a pluralityof transmit antennas 12 are used. In an embodiment, the transmit antenna12 generates more than one signal.

In an embodiment, the transmit antenna 12 transmits signals into theskin and are received by the receiver. A signal processor (not shown) isused to process signals received on each receive antenna 14 and providea measurement corresponding to each receive antenna 14.

In an embodiment, one or more frequency orthogonal signals aretransmitted by each transmit antenna 12, and a signal processor (notshown) is used to process signals received on each receive antenna 14and provide a measurement corresponding to each of the one or morefrequency orthogonal signals for each such receive antenna 14.

In an embodiment, the plurality of receive antennas 14 face the surfaceof the skin. In an embodiment, the plurality of receive antennas 14 maybe aligned in rows or other patterns. In an embodiment, the plurality ofreceive antennas 12 are arranged in matrix arrays. In an embodiment, theplurality of receive antennas 14 comprise conductive thread that isthreaded through the band. In an embodiment, a combination of conductivethreads and matrix arrays of antennas may be used.

In an embodiment, movement causes deformation of the second supportstructure, e.g., skin with respect to the first support structure 16,and thus causes changes in the measurement corresponding to each signalsfor each such receive antenna 14. In an embodiment, successivemeasurements are used to detect deformation of the band. In anembodiment, differences in successive measurements are used to infermovement of a body part. In an embodiment, machine learning algorithmsare used to associate body part movement with signal changes, and thento model movement based on such signal changes.

In an embodiment, information acquired from one or more antenna from acontroller system can provide the basis for providing a model of theuser's fingers, hands and wrists in 3D with low latency. The low latencydelivery of skeletal models may permit VR/AR system to provide real timerenditions of the user's hand. Moreover, the deformation data presentedallows application and operating system software to have informationfrom which not only hover, contact, grip, pressure and gesture can beidentified via determination of the deformation, but it further providesthe hand position and orientation, from which gestural intent may bemore easily derived.

It is understood that each block of the block diagrams or operationalillustrations, and combinations of blocks in the block diagrams oroperational illustrations, may be implemented by means of analog ordigital hardware and computer program instructions. Computer programinstructions may be provided to a processor of a general purposecomputer, special purpose computer, ASIC, or other programmable dataprocessing apparatus, such that the instructions, which execute via aprocessor of a computer or other programmable data processing apparatus,implements the functions/acts specified in the block diagrams oroperational block or blocks.

Except as expressly limited by the discussion above, in some alternateimplementations, the functions/acts noted in blocks may occur out of theorder noted in any operational illustrations. For example, the order ofexecution if blocks shown in succession may in fact be executedconcurrently or substantially concurrently or, where practical, anyblocks may be executed in a different order with respect to the others,depending upon the functionality/acts involved.

While the invention has been particularly shown and described withreference to a preferred embodiment thereof, it will be understood bythose skilled in the art that various changes in form and details may bemade therein without departing from the spirit and scope of theinvention.

1. An apparatus, comprising: a first plurality of antennas each beingsupported on a first structure, the first structure adapted deform; asignal transmitter operatively connected to at least one of a first setof the first plurality of antennas, the first set comprising at leasttwo of the first plurality of antennas, the signal transmitter beingconfigured to generate each of a first plurality of frequency-orthogonalsignals on each of the first set of the first plurality of antennas,respectively; signal processor operatively connected to each of a secondset of the first plurality of antennas, the second set comprising atleast two of the first plurality of antennas, the signal processor beingconfigured to process signals received on the second set of the firstplurality of antennas during a plurality of integration periods, and foreach of the plurality of integration periods and for each of the secondset of the first plurality of antennas, to determine a measurementcorresponding to each signal generated on each of the first set of thefirst plurality of antennas; and wherein a movement of a body part canbe determined based on the measurements corresponding to the pluralityof integration periods.
 2. The apparatus of claim 1, wherein each of thefirst set of the first plurality of antennas are moveable due todeformation of the first structure.
 3. The apparatus of claim 1, furthercomprising: a second plurality of antennas each being supported on asecond structure adapted to be worn.
 4. The apparatus of claim 3,wherein the signal transmitter is further operatively connected to eachof a first set of the second plurality of antennas, the signaltransmitter being configured to generate each of a second plurality offrequency-orthogonal signals on each of the first set of the secondplurality of antennas, respectively, each frequency-orthogonal signal ofthe second plurality of frequency-orthogonal signals beingfrequency-orthogonal to each signal of the first plurality offrequency-orthogonal signals.
 5. The apparatus of claim 4, wherein thesignal processor is further operatively connected to each of a secondset of the second plurality of antennas, the signal processor beingfurther configured to process signals received on the second set of thesecond plurality of antennas during the plurality of integrationperiods, and for each of the plurality of integration periods and foreach of the second set of the second plurality of antennas, to determinea measurement corresponding to each signal generated on each of thesecond set of the second plurality of antennas.
 6. The apparatus ofclaim 4, wherein each of the second set of the first plurality ofantennas are moveable due to deformation of the second structure.
 7. Theapparatus of claim 4, wherein the signal processor is further configuredto process signals received on the second set of the second plurality ofantennas during the plurality of integration periods, and for each ofthe plurality of integration periods and for each of the second set ofthe second plurality of antennas, to determine a measurementcorresponding to each signal generated on each of the second set of thefirst plurality of antennas.
 8. The apparatus of claim 3, wherein thesignal processor is further operatively connected to each of a set ofthe second plurality of antennas, the set of the second plurality ofantennas comprising at least two of the second plurality of antennas,the signal processor being further configured to process signalsreceived on the set of the second plurality of antennas during theplurality of integration periods, and for each of the plurality ofintegration periods and for each of the set of the second plurality ofantennas, to determine a measurement corresponding to each signalgenerated on each of the first set of the first plurality of antennas.9. A method, comprising the steps of: generating signals with a signaltransmitter operatively connected to at least one of the first pluralityof antennas, the signal transmitter being configured to generate each ofa first plurality of frequency-orthogonal signals on at least one of thefirst set of the first plurality of antennas, respectively; receivingsignals on a set of the first plurality of antennas, the set comprisingat least two of the first plurality of antennas, wherein each of thefirst plurality of antennas are supported on a flexible structure;processing signals with a signal processor operatively connected to eachof the set of the first plurality of antennas, the signal processorbeing configured to process signals received on the set of the firstplurality of antennas during a plurality of integration periods;determining a measurement corresponding to each signal generated on eachof the at least one of the first plurality of antennas for each of theplurality of integration periods and for each of the second set of thefirst plurality of antennas; and determining movement based on themeasurements corresponding to the plurality of integration periods. 10.The method of claim 9, wherein each of the set of the first plurality ofantennas are moveable due to deformation of the flexible structure. 11.The method of claim 9, further comprising: a second plurality ofantennas each being supported on a second structure.
 12. The method ofclaim 11, wherein the signal transmitter is further operativelyconnected to each of a first set of the second plurality of antennas,the signal transmitter being configured to generate each of a secondplurality of frequency-orthogonal signals on each of the first set ofthe second plurality of antennas, respectively, eachfrequency-orthogonal signal of the second plurality offrequency-orthogonal signals being frequency-orthogonal to each signalof the first plurality of frequency-orthogonal signals.
 13. The methodof claim 12, wherein the signal processor is further operativelyconnected to each of a second set of the second plurality of antennas,the signal processor being further configured to process signalsreceived on the second set of the second plurality of antennas duringthe plurality of integration periods, and for each of the plurality ofintegration periods and for each of the second set of the secondplurality of antennas, to determine a measurement corresponding to eachsignal generated on each of the second set of the second plurality ofantennas.
 14. The method of claim 12, wherein the signal processor isfurther configured to process signals received on the second set of thesecond plurality of antennas during the plurality of integrationperiods, and for each of the plurality of integration periods and foreach of the second set of the second plurality of antennas, to determinea measurement corresponding to each signal generated on each of thesecond set of the first plurality of antennas.
 15. The method of claim12, wherein the signal processor is further operatively connected toeach of the second set of the second plurality of antennas, the secondset of the second plurality of antennas comprising at least two of thesecond plurality of antennas, the signal processor being furtherconfigured to process signals received on the second set of the secondplurality of antennas during the plurality of integration periods, andfor each of the plurality of integration periods and for each of the setof the second plurality of antennas, to determine a measurementcorresponding to each signal generated on each of the first set of thefirst plurality of antennas.
 16. An apparatus, comprising: a firstplurality of antennas each being supported on a first structure adaptedto be worn on a wrist; signal transmitter operatively connected to atleast one of the first plurality of antennas, the at least one of thefirst plurality of antennas being configured for signal infusion; signalprocessor operatively connected to each of a second plurality ofantennas, the signal processor being configured to process signalsreceived on the second plurality of antennas to determine a measurementcorresponding to each signal generated by the at least one of the firstplurality of antennas; and wherein a movement of a hand can bedetermined based on the measurements corresponding to each signalgenerated by the at least one of the first plurality of antennas. 17.The apparatus of claim 17, wherein the signal transmitter is operativelyconnected to a plurality of the first plurality of antennas.
 18. Theapparatus of claim 17, wherein the second plurality of antennas face theskin.